US7440762B2 - TDOA/GPS hybrid wireless location system - Google Patents
TDOA/GPS hybrid wireless location system Download PDFInfo
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- US7440762B2 US7440762B2 US10/748,367 US74836703A US7440762B2 US 7440762 B2 US7440762 B2 US 7440762B2 US 74836703 A US74836703 A US 74836703A US 7440762 B2 US7440762 B2 US 7440762B2
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Images
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
- G01S19/09—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing processing capability normally carried out by the receiver
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/0009—Transmission of position information to remote stations
- G01S5/0018—Transmission from mobile station to base station
- G01S5/0036—Transmission from mobile station to base station of measured values, i.e. measurement on mobile and position calculation on base station
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0257—Hybrid positioning
- G01S5/0263—Hybrid positioning by combining or switching between positions derived from two or more separate positioning systems
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/12—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves by co-ordinating position lines of different shape, e.g. hyperbolic, circular, elliptical or radial
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/90—Services for handling of emergency or hazardous situations, e.g. earthquake and tsunami warning systems [ETWS]
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W76/00—Connection management
- H04W76/50—Connection management for emergency connections
Abstract
Description
D TR =|x T −x R| (1)
t TR =TOA−TOT=D TR /c=|x T(TOT)−x R(TOA)|/c (2)
where x R(TOA) is the three-dimensional vector coordinate representation of the receiver position at the “epoch” or time TOA, and x T(TOT) is the vector coordinate representation of the transmitter position at epoch TOT. In systems that exploit RF signal propagation time relations such as expressed in (2), the (constant) propagation speed, “c,” may be multiplied by the fundamental time measurements to render the measurements directly in units of distance or length. In synchronized location-determination systems such as the GPS, the TOT for the received signal interval is defined, controlled, and known with respect to a specified and precisely maintained time standard, e.g., GPS time or the related Universal Time Coordinated (UTC). An MS using an embedded GPS receiver is designed to receive the GPS signals that are transmitted at known times from the SVs, whose positions can be calculated from transmitted orbit-determination parameters. A land-based infrastructure that determines MS locations by exploiting TOAs measured at separated LS locations for signals transmitted by the MS or at the MS for signals transmitted by the LSs uses time-base synchronization (e.g., synchronized to GPS transmissions) to coordinate the clock standards for separated LS receiving stations and/or time commonality to associate separate signal receptions at the MS. Through the exploitation of time measurements and their relationships to RF signal propagation distances between transmitter and receiver position, the position of a MS that receives and/or transmits the various signals can be determined.
TA MS=2D ML /c=2| x MS −x LS |/c (4)
S T /S R =L TR(D TR, . . . )=G·PL(D TR)=G·PL(| x T −x R|) (5)
where the SR and ST measurements are the received and transmitted signal power level measures, G is a distance-independent factor encapsulating other contributing factors such as receiving and transmitting antenna “system” gains in the relative directions of signal propagation, and PL( ) is a distance-dependent model of the environmental path losses for the propagating signal strength between the deployed transmitting and receiving antennas. For a simple, spherical-spreading model,
PL sph(D TR)=[4πD TR/λ]2 (6)
where λ is the wavelength of signal propagation. The distance differences for GPS signal propagations from SVs to a receiving MS are proportionately small, and significant variability exists in GPS signal propagation from the different SVs, with ionospheric and atmospheric effects and with multipath reflections near the MS. These characteristics typically render the use of received GPS power levels inconsequential for MS location determination. However, for the determination of an MS location with power levels measured for land-based propagations between an MS and one or more LSs, the location calculations can make effective use of an empirically validated propagation loss model such as Hata's representation of Okumura's data, as documented in the following article, which is incorporated herein by reference: Empirical Formula for Propagation Loss in Land Mobile Radio Services, M. Hata, IEEE Trans. Veh. Tech., Vol VT-29, No. 3, August 1980.
AOA TR=atan2[( x T −x R)E/( x T −x R)N] (7)
where atan2[ ] provides the complete four-quadrant arctangent, and ( )E and ( )N represent the East and North components for the vector directed toward the transmitter location x T from the receiver location x R. Such a measure provides information regarding the locus of the possible or probable transmitting MS locations along the line of bearing (LOB) sensed at the receiving LS, and the measure is nominally independent of the distance along the LOB from the LS to the MS location.
p( x|z )=p( z|x )p( x )/p( z ) (8)
where p(x|z) represents the probability that the state vector components are those evaluated for xunder the condition that the observations have the values actually obtained for the measurement values in z, p(z|x) represents the probability that the values of the vector z would be observed under the condition that the state variables are of the values in x, p(x) is the total (marginal) relative apriori probability that the state values of x would occur, and p(z) is the total (marginal) probability that the measured parameter values occur for the observation vector, z. In a derivation of the positional solution or estimate of optimal likelihood or relative probability, location-independent factors such as the p(z) term are inconsequential.
z=h ( x )+ v (9)
E( v )=0 and E( vv T)=R (10)
p G( z|x )≈exp[−½( z−h ( x ))T R −1( z−h ( x ))] (11)
neglecting terms independent of x. Under alternative circumstances, when the measurement data errors are less compactly distributed and appear to be more accurately represented by exponential or Laplacian statistics, then, for independent, unbiased measurements with a diagonal mean square deviation matrix,
E(v m v n)=σm 2δmn (12)
where δmn=1 when m=n and is zero otherwise, the relative probability or likelihood contribution for the Laplacian distributed data vector is represented as:
p L( z|x )≈exp[−√{square root over (2)}(σ −1)T(| z−h ( x )|)] (13)
again neglecting terms independent of x, and using “(σ −1)” to denote a vector with components equal to the inverse of the rms error expectations, σm and “(|z−h(x)|)” to denote a vector with components equal to the absolute values of the individual measurement innovations or residuals, (|z−h(x)|)m=|zm −h m(x)|. Relations such as (11) and (13), and similar treatments of likelihood factors for heuristically observed error distributions, provide a fundamental manner for integrating the contribution of diverse observations into the probabilistic determination of the optimal values for the location parameters.
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- 1. For cases when early, enhanced call routing is required, TDOA is best.
- 2. When a user is on a call, TDOA is best with no additional traffic loading.
- 3. When the MS is idle or the position is latency insensitive, AGPS is best.
- 4. When the system is lightly loaded, AGPS is best/most accurate
- 5. When the system is heavily loaded, TDOA is best.
- 6. When the system requires high accuracy, TDOA and AGPS an be used in combination.
- 7. When a legacy phone (non-GPS capable phone) is in operation, TDOA is best.
Claims (7)
Priority Applications (14)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US10/748,367 US7440762B2 (en) | 2003-12-30 | 2003-12-30 | TDOA/GPS hybrid wireless location system |
AU2004311881A AU2004311881B2 (en) | 2003-12-30 | 2004-12-29 | TDOA/GPS hybrid wireless location system |
BRPI0418136-0A BRPI0418136A (en) | 2003-12-30 | 2004-12-29 | method and system for determining the location of a mobile station (ms) equipped with a built-in gps signal reception capability and equipped to operate within a wireless communications network |
KR1020067012451A KR101183753B1 (en) | 2003-12-30 | 2004-12-29 | Tdoa/gps hybrid wireless location system |
JP2006547501A JP5026086B2 (en) | 2003-12-30 | 2004-12-29 | TDOA / GPS hybrid wireless position detection system |
CA2821652A CA2821652C (en) | 2003-12-30 | 2004-12-29 | Tdoa/gps hybrid wireless location system |
PCT/US2004/043709 WO2005065320A2 (en) | 2003-12-30 | 2004-12-29 | Tdoa/gps hybrid wireless location system |
CN2004800385371A CN1898975B (en) | 2003-12-30 | 2004-12-29 | TDOA/GPS hybrid wireless location system |
CA2548669A CA2548669C (en) | 2003-12-30 | 2004-12-29 | Tdoa/gps hybrid wireless location system |
EP04815721A EP1704734A4 (en) | 2003-12-30 | 2004-12-29 | Tdoa/gps hybrid wireless location system |
MXPA06007257A MXPA06007257A (en) | 2003-12-30 | 2004-12-29 | Tdoa/gps hybrid wireless location system. |
GB0612619A GB2426647B (en) | 2003-12-30 | 2004-12-29 | TDO/GPS Hybrid Wireless Location System |
IL176192A IL176192A (en) | 2003-12-30 | 2006-06-08 | Tdoa/gps hybrid wireless location system |
US12/141,029 US7925274B2 (en) | 2003-12-30 | 2008-06-17 | TDOA/GPS hybrid wireless location system |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US10/748,367 US7440762B2 (en) | 2003-12-30 | 2003-12-30 | TDOA/GPS hybrid wireless location system |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
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US12/141,029 Continuation US7925274B2 (en) | 2003-12-30 | 2008-06-17 | TDOA/GPS hybrid wireless location system |
Publications (2)
Publication Number | Publication Date |
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US20050148346A1 US20050148346A1 (en) | 2005-07-07 |
US7440762B2 true US7440762B2 (en) | 2008-10-21 |
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US10/748,367 Expired - Lifetime US7440762B2 (en) | 2003-12-30 | 2003-12-30 | TDOA/GPS hybrid wireless location system |
US12/141,029 Expired - Lifetime US7925274B2 (en) | 2003-12-30 | 2008-06-17 | TDOA/GPS hybrid wireless location system |
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Application Number | Title | Priority Date | Filing Date |
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US12/141,029 Expired - Lifetime US7925274B2 (en) | 2003-12-30 | 2008-06-17 | TDOA/GPS hybrid wireless location system |
Country Status (12)
Country | Link |
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US (2) | US7440762B2 (en) |
EP (1) | EP1704734A4 (en) |
JP (1) | JP5026086B2 (en) |
KR (1) | KR101183753B1 (en) |
CN (1) | CN1898975B (en) |
AU (1) | AU2004311881B2 (en) |
BR (1) | BRPI0418136A (en) |
CA (2) | CA2548669C (en) |
GB (1) | GB2426647B (en) |
IL (1) | IL176192A (en) |
MX (1) | MXPA06007257A (en) |
WO (1) | WO2005065320A2 (en) |
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GB2426647A (en) | 2006-11-29 |
MXPA06007257A (en) | 2006-08-18 |
JP5026086B2 (en) | 2012-09-12 |
US20080248811A1 (en) | 2008-10-09 |
CA2821652C (en) | 2014-07-22 |
IL176192A (en) | 2011-03-31 |
KR20070026345A (en) | 2007-03-08 |
US20050148346A1 (en) | 2005-07-07 |
CA2548669C (en) | 2014-05-06 |
IL176192A0 (en) | 2006-10-05 |
GB2426647B (en) | 2008-02-13 |
KR101183753B1 (en) | 2012-09-17 |
AU2004311881A1 (en) | 2005-07-21 |
US7925274B2 (en) | 2011-04-12 |
WO2005065320A3 (en) | 2006-04-20 |
CN1898975B (en) | 2010-04-28 |
GB0612619D0 (en) | 2006-08-23 |
EP1704734A2 (en) | 2006-09-27 |
WO2005065320A2 (en) | 2005-07-21 |
EP1704734A4 (en) | 2009-10-21 |
AU2004311881B2 (en) | 2008-07-31 |
JP2007518979A (en) | 2007-07-12 |
CA2821652A1 (en) | 2005-07-21 |
CA2548669A1 (en) | 2005-07-21 |
CN1898975A (en) | 2007-01-17 |
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